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Namespaces</h2></td></tr>
<tr class="memitem:namespaceblmc__robots_1_1logger"><td class="memItemLeft" align="right" valign="top"> &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots_1_1logger.html">logger</a></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="nested-classes"></a>
Classes</h2></td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModule.html">BlmcJointModule</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">The <a class="el" href="classblmc__robots_1_1BlmcJointModule.html" title="The BlmcJointModule class is containing the joint information. ">BlmcJointModule</a> class is containing the joint information.  <a href="classblmc__robots_1_1BlmcJointModule.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1BlmcJointModules.html">BlmcJointModules</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This class defines an interface to a collection of BLMC joints.  <a href="classblmc__robots_1_1BlmcJointModules.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structblmc__robots_1_1CalibrationParameters.html">CalibrationParameters</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameters for the joint calibration (homing and go to initial pose).  <a href="structblmc__robots_1_1CalibrationParameters.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1FakeFingerDriver.html">FakeFingerDriver</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structblmc__robots_1_1HomingState.html">HomingState</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">State variables required for the homing.  <a href="structblmc__robots_1_1HomingState.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structblmc__robots_1_1MotorParameters.html">MotorParameters</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameters related to the motor.  <a href="structblmc__robots_1_1MotorParameters.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1NJointBlmcRobotDriver.html">NJointBlmcRobotDriver</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Base class for simple n-joint BLMC robots.  <a href="classblmc__robots_1_1NJointBlmcRobotDriver.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1OldDisentanglementPlatform.html">OldDisentanglementPlatform</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">The OldRealDisentanglementPlatform class implements the control of the test bench containing 8 motors and 8 sliders using the blmc drivers.  <a href="classblmc__robots_1_1OldDisentanglementPlatform.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1OneJointDriver.html">OneJointDriver</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Driver for a single joint.  <a href="classblmc__robots_1_1OneJointDriver.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Quadruped.html">Quadruped</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1RealDisentanglementPlatform.html">RealDisentanglementPlatform</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1RealFingerDriver.html">RealFingerDriver</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleLeg.html">SingleLeg</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1SingleMotor.html">SingleMotor</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Slider.html">Slider</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Sliders.html">Sliders</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Stuggihop.html">Stuggihop</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TestBench8Motors.html">TestBench8Motors</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">The <a class="el" href="classblmc__robots_1_1TestBench8Motors.html" title="The TestBench8Motors class implements the control of the test bench containing 8 motors and 8 sliders...">TestBench8Motors</a> class implements the control of the test bench containing 8 motors and 8 sliders using the blmc drivers.  <a href="classblmc__robots_1_1TestBench8Motors.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1Teststand.html">Teststand</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">The class <a class="el" href="classblmc__robots_1_1Teststand.html" title="The class Teststand is used to control the Teststand robot located at MPI-IS Tuebingen. ">Teststand</a> is used to control the <a class="el" href="classblmc__robots_1_1Teststand.html" title="The class Teststand is used to control the Teststand robot located at MPI-IS Tuebingen. ">Teststand</a> robot located at MPI-IS Tuebingen.  <a href="classblmc__robots_1_1Teststand.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classblmc__robots_1_1TwoJointDriver.html">TwoJointDriver</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Driver for two joints.  <a href="classblmc__robots_1_1TwoJointDriver.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr class="memitem:aa5066dce11e2e3ae56b844676b132a09"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aa5066dce11e2e3ae56b844676b132a09"></a>
typedef std::shared_ptr&lt; <a class="el" href="classblmc__robots_1_1BlmcJointModule.html">BlmcJointModule</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#aa5066dce11e2e3ae56b844676b132a09">BlmcJointModule_ptr</a></td></tr>
<tr class="memdesc:aa5066dce11e2e3ae56b844676b132a09"><td class="mdescLeft">&#160;</td><td class="mdescRight">BlmcJointModule_ptr shortcut for the shared pointer <a class="el" href="classblmc__robots_1_1BlmcJointModule.html" title="The BlmcJointModule class is containing the joint information. ">BlmcJointModule</a> type. <br /></td></tr>
<tr class="separator:aa5066dce11e2e3ae56b844676b132a09"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a932c1319d78144ebcaa8938ae070b784"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a932c1319d78144ebcaa8938ae070b784"></a>
typedef Eigen::Matrix&lt; double, 1, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#a932c1319d78144ebcaa8938ae070b784">Vector1d</a></td></tr>
<tr class="memdesc:a932c1319d78144ebcaa8938ae070b784"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector2d shortcut for the eigen vector of size 1. <br /></td></tr>
<tr class="separator:a932c1319d78144ebcaa8938ae070b784"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acb6916bc8c9fe9d98c484fd4cc201447"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="acb6916bc8c9fe9d98c484fd4cc201447"></a>
typedef Eigen::Matrix&lt; double, 2, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#acb6916bc8c9fe9d98c484fd4cc201447">Vector2d</a></td></tr>
<tr class="memdesc:acb6916bc8c9fe9d98c484fd4cc201447"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector2d shortcut for the eigen vector of size 2. <br /></td></tr>
<tr class="separator:acb6916bc8c9fe9d98c484fd4cc201447"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a98975ffbe0bca1296078e0350dfedd60"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a98975ffbe0bca1296078e0350dfedd60"></a>
typedef Eigen::Matrix&lt; double, 8, 1 &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#a98975ffbe0bca1296078e0350dfedd60">Vector8d</a></td></tr>
<tr class="memdesc:a98975ffbe0bca1296078e0350dfedd60"><td class="mdescLeft">&#160;</td><td class="mdescRight">Vector8d shortcut for the eigen vector of size 8. <br /></td></tr>
<tr class="separator:a98975ffbe0bca1296078e0350dfedd60"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a793c8789a7598e8aaf766939da7262af"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a793c8789a7598e8aaf766939da7262af"></a>
typedef std::shared_ptr&lt; blmc_drivers::CanBus &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#a793c8789a7598e8aaf766939da7262af">CanBus_ptr</a></td></tr>
<tr class="memdesc:a793c8789a7598e8aaf766939da7262af"><td class="mdescLeft">&#160;</td><td class="mdescRight">CanBus_ptr shortcut for the shared pointer CanBus type. <br /></td></tr>
<tr class="separator:a793c8789a7598e8aaf766939da7262af"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aab1c6ddb1273247a1b45d5e8b417c216"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aab1c6ddb1273247a1b45d5e8b417c216"></a>
typedef std::shared_ptr&lt; blmc_drivers::CanBusMotorBoard &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#aab1c6ddb1273247a1b45d5e8b417c216">CanBusMotorBoard_ptr</a></td></tr>
<tr class="memdesc:aab1c6ddb1273247a1b45d5e8b417c216"><td class="mdescLeft">&#160;</td><td class="mdescRight">CanBusMotorBoard_Ptr shortcut for the shared pointer CanBus type. <br /></td></tr>
<tr class="separator:aab1c6ddb1273247a1b45d5e8b417c216"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae1a0f9992bc8fbbc1943d887f517c180"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="ae1a0f9992bc8fbbc1943d887f517c180"></a>
typedef std::shared_ptr&lt; blmc_drivers::MotorInterface &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#ae1a0f9992bc8fbbc1943d887f517c180">MotorInterface_ptr</a></td></tr>
<tr class="memdesc:ae1a0f9992bc8fbbc1943d887f517c180"><td class="mdescLeft">&#160;</td><td class="mdescRight">MotorInterface_ptr shortcut for the shared pointer MotorInterface type. <br /></td></tr>
<tr class="separator:ae1a0f9992bc8fbbc1943d887f517c180"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aeba0df1e898326cde4922419d871c5c6"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="aeba0df1e898326cde4922419d871c5c6"></a>
typedef std::shared_ptr&lt; blmc_drivers::Motor &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#aeba0df1e898326cde4922419d871c5c6">Motor_ptr</a></td></tr>
<tr class="memdesc:aeba0df1e898326cde4922419d871c5c6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Motor_ptr shortcut for the shared pointer Motor type. <br /></td></tr>
<tr class="separator:aeba0df1e898326cde4922419d871c5c6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9850cf917156e20846aef3f8195aea0f"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a9850cf917156e20846aef3f8195aea0f"></a>
typedef std::shared_ptr&lt; blmc_drivers::SafeMotor &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#a9850cf917156e20846aef3f8195aea0f">SafeMotor_ptr</a></td></tr>
<tr class="memdesc:a9850cf917156e20846aef3f8195aea0f"><td class="mdescLeft">&#160;</td><td class="mdescRight">SafeMotor_ptr shortcut for the shared pointer SafeMotor type. <br /></td></tr>
<tr class="separator:a9850cf917156e20846aef3f8195aea0f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a4cb9a95e8b2c0bf237ce29f5252c7b73"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a4cb9a95e8b2c0bf237ce29f5252c7b73"></a>
typedef std::shared_ptr&lt; blmc_drivers::AnalogSensor &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#a4cb9a95e8b2c0bf237ce29f5252c7b73">Slider_ptr</a></td></tr>
<tr class="memdesc:a4cb9a95e8b2c0bf237ce29f5252c7b73"><td class="mdescLeft">&#160;</td><td class="mdescRight">Slider_ptr shortcut for the linear potentiometer analog sensor. <br /></td></tr>
<tr class="separator:a4cb9a95e8b2c0bf237ce29f5252c7b73"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac78fe5c68e56a3b884117109959e4d58"><td class="memItemLeft" align="right" valign="top">typedef std::shared_ptr&lt; blmc_drivers::AnalogSensor &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#ac78fe5c68e56a3b884117109959e4d58">ContactSensor_ptr</a></td></tr>
<tr class="memdesc:ac78fe5c68e56a3b884117109959e4d58"><td class="mdescLeft">&#160;</td><td class="mdescRight">ContactSensor_ptr shortcut for the contact sensor.  <a href="#ac78fe5c68e56a3b884117109959e4d58">More...</a><br /></td></tr>
<tr class="separator:ac78fe5c68e56a3b884117109959e4d58"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a921d3f5a8878524375bf7e740f2fb788"><td class="memItemLeft" align="right" valign="top">typedef std::shared_ptr&lt; blmc_drivers::AnalogSensor &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#a921d3f5a8878524375bf7e740f2fb788">HeightSensor_ptr</a></td></tr>
<tr class="memdesc:a921d3f5a8878524375bf7e740f2fb788"><td class="mdescLeft">&#160;</td><td class="mdescRight">HeightSensor_ptr shortcut for the height sensor.  <a href="#a921d3f5a8878524375bf7e740f2fb788">More...</a><br /></td></tr>
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<tr class="memitem:a1975c6bb47bc85dfc8edfe349c30dae1"><td class="memItemLeft" align="right" valign="top"><a class="anchor" id="a1975c6bb47bc85dfc8edfe349c30dae1"></a>
typedef blmc_drivers::MotorInterface::MeasurementIndex&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#a1975c6bb47bc85dfc8edfe349c30dae1">mi</a></td></tr>
<tr class="memdesc:a1975c6bb47bc85dfc8edfe349c30dae1"><td class="mdescLeft">&#160;</td><td class="mdescRight">mi, this typedef is used to get the measurements from the blmc api <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a name="enum-members"></a>
Enumerations</h2></td></tr>
<tr class="memitem:aa1075809042ff261e4b0a20d161448b6"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6">HomingReturnCode</a> { <a class="el" href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6a02de9649e258d1dd94056e676061e969">HomingReturnCode::NOT_INITIALIZED</a> = 0, 
<a class="el" href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6a43491564ebcfd38568918efbd6e840fd">HomingReturnCode::RUNNING</a>, 
<a class="el" href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6afd9f6519d3f45276829fe74eb2c4bb85">HomingReturnCode::SUCCEEDED</a>, 
<a class="el" href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6ab9e14d9b2886bcff408b85aefa780419">HomingReturnCode::FAILED</a>
 }<tr class="memdesc:aa1075809042ff261e4b0a20d161448b6"><td class="mdescLeft">&#160;</td><td class="mdescRight">Possible return values of the homing.  <a href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6">More...</a><br /></td></tr>
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Functions</h2></td></tr>
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robot_interfaces::FingerTypes::BackendPtr&#160;</td><td class="memItemRight" valign="bottom"><b>create_fake_finger_backend</b> (robot_interfaces::FingerTypes::DataPtr robot_data)</td></tr>
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robot_interfaces::NJointRobotTypes&lt; 1 &gt;::BackendPtr&#160;</td><td class="memItemRight" valign="bottom"><b>create_one_joint_backend</b> (const std::string &amp;can_0, const double home_offset_rad, robot_interfaces::NJointRobotTypes&lt; 1 &gt;::DataPtr robot_data)</td></tr>
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robot_interfaces::FingerTypes::BackendPtr&#160;</td><td class="memItemRight" valign="bottom"><b>create_real_finger_backend</b> (const std::string &amp;can_0, const std::string &amp;can_1, robot_interfaces::FingerTypes::DataPtr robot_data)</td></tr>
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robot_interfaces::NJointRobotTypes&lt; 2 &gt;::BackendPtr&#160;</td><td class="memItemRight" valign="bottom"><b>create_two_joint_backend</b> (const std::string &amp;can_0, robot_interfaces::NJointRobotTypes&lt; 2 &gt;::Vector &amp;home_offset_rad, robot_interfaces::NJointRobotTypes&lt; 2 &gt;::DataPtr robot_data)</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><dl class="section author"><dt>Author</dt><dd>Manuel Wuthrich </dd></dl>
<dl class="section date"><dt>Date</dt><dd>2018</dd></dl>
<p>This file declares the OldRealDisentanglementPlatform class which defines the test bench with 8 motors. </p>
</div><h2 class="groupheader">Typedef Documentation</h2>
<a class="anchor" id="ac78fe5c68e56a3b884117109959e4d58"></a>
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          <td class="memname">typedef std::shared_ptr&lt;blmc_drivers::AnalogSensor&gt; <a class="el" href="namespaceblmc__robots.html#ac78fe5c68e56a3b884117109959e4d58">blmc_robots::ContactSensor_ptr</a></td>
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<p>ContactSensor_ptr shortcut for the contact sensor. </p>
<p>It is also an analog sensor </p>

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<a class="anchor" id="a921d3f5a8878524375bf7e740f2fb788"></a>
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          <td class="memname">typedef std::shared_ptr&lt;blmc_drivers::AnalogSensor&gt; <a class="el" href="namespaceblmc__robots.html#a921d3f5a8878524375bf7e740f2fb788">blmc_robots::HeightSensor_ptr</a></td>
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<p>HeightSensor_ptr shortcut for the height sensor. </p>
<p>It is also an analog sensor </p>

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<h2 class="groupheader">Enumeration Type Documentation</h2>
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          <td class="memname">enum <a class="el" href="namespaceblmc__robots.html#aa1075809042ff261e4b0a20d161448b6">blmc_robots::HomingReturnCode</a></td>
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<span class="mlabels"><span class="mlabel">strong</span></span>  </td>
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<p>Possible return values of the homing. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a class="anchor" id="aa1075809042ff261e4b0a20d161448b6a02de9649e258d1dd94056e676061e969"></a>NOT_INITIALIZED&#160;</td><td class="fielddoc">
<p>Homing was not initialized and can therefore not be performed. </p>
</td></tr>
<tr><td class="fieldname"><a class="anchor" id="aa1075809042ff261e4b0a20d161448b6a43491564ebcfd38568918efbd6e840fd"></a>RUNNING&#160;</td><td class="fielddoc">
<p>Homing is currently running. </p>
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<tr><td class="fieldname"><a class="anchor" id="aa1075809042ff261e4b0a20d161448b6afd9f6519d3f45276829fe74eb2c4bb85"></a>SUCCEEDED&#160;</td><td class="fielddoc">
<p>Homing is succeeded. </p>
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<tr><td class="fieldname"><a class="anchor" id="aa1075809042ff261e4b0a20d161448b6ab9e14d9b2886bcff408b85aefa780419"></a>FAILED&#160;</td><td class="fielddoc">
<p>Homing failed. </p>
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